Complex modelling and dynamical analysis of parallel cable mechanisms

Abstract

This paper deals with the modelling of flexible cables, which are parts of multibody systems. The common approaches suitable for the cable modelling are summarized. Force representation of a cable, a point-mass model and an absolute nodal coordinate formulation are discussed. The experimental results from the weight-fibre-pulley-drive mechanical system are used to compare possibilities of common modelling approaches. Then the widely used MSC.Adams software is employed for modelling the Quadrosphere mechanism, which contains flexible fibers. The results of dynamical analysis are presented.